diff options
Diffstat (limited to 'src/org/broeuschmeul/android/gps/nmea/util/NmeaParser.java')
| -rw-r--r-- | src/org/broeuschmeul/android/gps/nmea/util/NmeaParser.java | 483 |
1 files changed, 483 insertions, 0 deletions
diff --git a/src/org/broeuschmeul/android/gps/nmea/util/NmeaParser.java b/src/org/broeuschmeul/android/gps/nmea/util/NmeaParser.java new file mode 100644 index 0000000..be4e973 --- /dev/null +++ b/src/org/broeuschmeul/android/gps/nmea/util/NmeaParser.java @@ -0,0 +1,483 @@ +/*
+ * Copyright (C) 2010 Herbert von Broeuschmeul
+ * Copyright (C) 2010 BluetoothGPS4Droid Project
+ *
+ * This file is part of BluetoothGPS4Droid.
+ *
+ * BluetoothGPS4Droid is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * BluetoothGPS4Droid is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with BluetoothGPS4Droid. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package org.broeuschmeul.android.gps.nmea.util;
+
+import java.text.ParseException;
+import java.text.SimpleDateFormat;
+import java.util.TimeZone;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import android.location.Criteria;
+import android.location.Location;
+import android.location.LocationManager;
+import android.location.LocationProvider;
+import android.os.Bundle;
+import android.text.TextUtils;
+import android.text.TextUtils.SimpleStringSplitter;
+import android.util.Log;
+
+public class NmeaParser {
+ private String fixTime;
+ private long fixTimestamp;
+
+ private boolean hasGGA = false;
+ private boolean hasRMC = false;
+ private LocationManager lm;
+ private float precision = 10f;
+ private boolean mockGpsEnabled = false;
+ private String mockLocationProvider = null;
+
+ private Location fix = new Location(mockLocationProvider);
+
+ public NmeaParser(){
+ this(5f);
+ }
+ public NmeaParser(float precision){
+ this.precision = precision;
+ }
+
+ public void setLocationManager(LocationManager lm){
+ this.lm = lm;
+ }
+
+ public void enableMockLocationProvider(String gpsName){
+ LocationProvider prov;
+ if (gpsName != null && gpsName != "" ){
+ if (! gpsName.equals(mockLocationProvider)){
+ disableMockLocationProvider();
+ mockLocationProvider = gpsName;
+ }
+ if (! mockGpsEnabled){
+ prov = lm.getProvider(mockLocationProvider);
+ if (prov != null){
+ Log.e("BT test", "Mock provider: "+prov.getName()+" "+prov.getPowerRequirement()+" "+prov.getAccuracy()+" "+lm.isProviderEnabled(mockLocationProvider));
+ }
+ lm.addTestProvider(mockLocationProvider, false, true,false, false, true, true, true, Criteria.POWER_HIGH, Criteria.ACCURACY_FINE);
+ if (! LocationManager.GPS_PROVIDER.equals(mockLocationProvider)){
+ // mockGpsEnabled = locationManager.isProviderEnabled(mockLocationProvider);
+ lm.setTestProviderEnabled(mockLocationProvider, true);
+ }
+ mockGpsEnabled = true;
+ } else {
+ Log.e("BT test", "Mock provider already enabled: "+mockLocationProvider);
+ }
+ prov = lm.getProvider(mockLocationProvider);
+ if (prov != null){
+ Log.e("BT test", "Mock provider: "+prov.getName()+" "+prov.getPowerRequirement()+" "+prov.getAccuracy()+" "+lm.isProviderEnabled(mockLocationProvider));
+ }
+ }
+ }
+
+ public void disableMockLocationProvider(){
+ LocationProvider prov;
+ if (mockLocationProvider != null && mockLocationProvider != "" && mockGpsEnabled){
+ prov = lm.getProvider(mockLocationProvider);
+ if (prov != null){
+ Log.e("BT test", "Mock provider: "+prov.getName()+" "+prov.getPowerRequirement()+" "+prov.getAccuracy()+" "+lm.isProviderEnabled(mockLocationProvider));
+ }
+ mockGpsEnabled = false;
+ if (! LocationManager.GPS_PROVIDER.equals(mockLocationProvider)){
+ // mockGpsEnabled = locationManager.isProviderEnabled(mockLocationProvider);
+ lm.setTestProviderEnabled(mockLocationProvider, false);
+ }
+ // locationManager.setTestProviderEnabled(mockLocationProvider, mockGpsEnabled);
+ prov = lm.getProvider(mockLocationProvider);
+ if (prov != null){
+ Log.e("BT test", "Mock provider: "+prov.getName()+" "+prov.getPowerRequirement()+" "+prov.getAccuracy()+" "+lm.isProviderEnabled(mockLocationProvider));
+ }
+ lm.clearTestProviderEnabled(mockLocationProvider);
+ prov = lm.getProvider(mockLocationProvider);
+ if (prov != null){
+ Log.e("BT test", "Mock provider: "+prov.getName()+" "+prov.getPowerRequirement()+" "+prov.getAccuracy()+" "+lm.isProviderEnabled(mockLocationProvider));
+ }
+ lm.clearTestProviderStatus(mockLocationProvider);
+ lm.removeTestProvider(mockLocationProvider);
+ prov = lm.getProvider(mockLocationProvider);
+ if (prov != null){
+ Log.e("BT test", "Mock provider: "+prov.getName()+" "+prov.getPowerRequirement()+" "+prov.getAccuracy()+" "+lm.isProviderEnabled(mockLocationProvider));
+ }
+ Log.e("BT test", "removed mock GPS");
+ } else {
+ Log.e("BT test", "Mock provider already disabled: "+mockLocationProvider);
+ }
+ mockLocationProvider = null;
+ mockGpsEnabled = false;
+ }
+
+ /**
+ * @return the mockGpsEnabled
+ */
+ public boolean isMockGpsEnabled() {
+ return mockGpsEnabled;
+ }
+
+ /**
+ * @return the mockLocationProvider
+ */
+ public String getMockLocationProvider() {
+ return mockLocationProvider;
+ }
+
+ private void notifyFix(Location fix){
+ //R.drawable.stat
+ fixTime = null;
+ hasGGA = false;
+ hasRMC=false;
+ if (fix != null){
+ Log.e(this.getClass().getSimpleName(), "New Fix: "+System.currentTimeMillis()+" "+fix);
+ if (lm != null && mockGpsEnabled){
+ lm.setTestProviderLocation(mockLocationProvider, fix);
+ Log.e(this.getClass().getSimpleName(), "New Fix notified to Location Manager: "+mockLocationProvider);
+ }
+ this.fix = null;
+ }
+ }
+
+ // parse NMEA Sentence
+ public void parseNmeaSentence(String gpsSentence){
+ Log.e("BT test", "data: "+System.currentTimeMillis()+" "+gpsSentence);
+ Pattern xx = Pattern.compile("\\$([^*$]*)\\*([0-9A-F][0-9A-F])?\r\n");
+ Matcher m = xx.matcher(gpsSentence);
+ if (m.matches()){
+ String sentence = m.group(1);
+ String checkSum = m.group(2);
+ Log.e("BT test", "data: "+System.currentTimeMillis()+" "+sentence+" cheksum; "+checkSum +" control: "+String.format("%X",computeChecksum(sentence)));
+ SimpleStringSplitter splitter = new TextUtils.SimpleStringSplitter(',');
+ splitter.setString(sentence);
+ String command = splitter.next();
+ if (command.equals("GPGGA")){
+ /* $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
+
+ Where:
+ GGA Global Positioning System Fix Data
+ 123519 Fix taken at 12:35:19 UTC
+ 4807.038,N Latitude 48 deg 07.038' N
+ 01131.000,E Longitude 11 deg 31.000' E
+ 1 Fix quality: 0 = invalid
+ 1 = GPS fix (SPS)
+ 2 = DGPS fix
+ 3 = PPS fix
+ 4 = Real Time Kinematic
+ 5 = Float RTK
+ 6 = estimated (dead reckoning) (2.3 feature)
+ 7 = Manual input mode
+ 8 = Simulation mode
+ 08 Number of satellites being tracked
+ 0.9 Horizontal dilution of position
+ 545.4,M Altitude, Meters, above mean sea level
+ 46.9,M Height of geoid (mean sea level) above WGS84
+ ellipsoid
+ (empty field) time in seconds since last DGPS update
+ (empty field) DGPS station ID number
+ *47 the checksum data, always begins with *
+ */
+ // UTC time of fix HHmmss.S
+ String time = splitter.next();
+ // latitude ddmm.M
+ String lat = splitter.next();
+ // direction (N/S)
+ String latDir = splitter.next();
+ // longitude dddmm.M
+ String lon = splitter.next();
+ // direction (E/W)
+ String lonDir = splitter.next();
+ /* fix quality:
+ 0= invalid
+ 1 = GPS fix (SPS)
+ 2 = DGPS fix
+ 3 = PPS fix
+ 4 = Real Time Kinematic
+ 5 = Float RTK
+ 6 = estimated (dead reckoning) (2.3 feature)
+ 7 = Manual input mode
+ 8 = Simulation mode
+ */
+ String quality = splitter.next();
+ // Number of satellites being tracked
+ String nbSat = splitter.next();
+ // Horizontal dilution of position (float)
+ String hdop = splitter.next();
+ // Altitude, Meters, above mean sea level
+ String alt = splitter.next();
+ // Height of geoid (mean sea level) above WGS84 ellipsoid
+ String geoAlt = splitter.next();
+ // time in seconds since last DGPS update
+ // DGPS station ID number
+ if (quality != null && !quality.equals("") && !quality.equals("0") ){
+ if (! time.equals(fixTime)){
+ notifyFix(fix);
+ fix = new Location(mockLocationProvider);
+ fixTime = time;
+ fixTimestamp = parseNmeaTime(time);
+ fix.setTime(fixTimestamp);
+ Log.e(this.getClass().getSimpleName(), "Fix: "+fix);
+ }
+ if (lat != null && !lat.equals("")){
+ fix.setLatitude(parseNmeaLatitude(lat,latDir));
+ }
+ if (lon != null && !lon.equals("")){
+ fix.setLongitude(parseNmeaLongitude(lon,lonDir));
+ }
+ if (hdop != null && !hdop.equals("")){
+ fix.setAccuracy(Float.parseFloat(hdop)*precision);
+ }
+ if (alt != null && !alt.equals("")){
+ fix.setAltitude(Double.parseDouble(alt));
+ }
+ if (nbSat != null && !nbSat.equals("")){
+ Bundle extras = new Bundle();
+ extras.putInt("satellites", Integer.parseInt(nbSat));
+ fix.setExtras(extras);
+ }
+ Log.e(this.getClass().getSimpleName(), "Fix: "+System.currentTimeMillis()+" "+fix);
+ hasGGA = true;
+ if (hasGGA && hasRMC){
+ notifyFix(fix);
+ }
+ }
+ } else if (command.equals("GPRMC")){
+ /* $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
+
+ Where:
+ RMC Recommended Minimum sentence C
+ 123519 Fix taken at 12:35:19 UTC
+ A Status A=active or V=Void.
+ 4807.038,N Latitude 48 deg 07.038' N
+ 01131.000,E Longitude 11 deg 31.000' E
+ 022.4 Speed over the ground in knots
+ 084.4 Track angle in degrees True
+ 230394 Date - 23rd of March 1994
+ 003.1,W Magnetic Variation
+ *6A The checksum data, always begins with *
+ */
+ // UTC time of fix HHmmss.S
+ String time = splitter.next();
+ // fix status (A/V)
+ String status = splitter.next();
+ // latitude ddmm.M
+ String lat = splitter.next();
+ // direction (N/S)
+ String latDir = splitter.next();
+ // longitude dddmm.M
+ String lon = splitter.next();
+ // direction (E/W)
+ String lonDir = splitter.next();
+ // Speed over the ground in knots
+ String speed = splitter.next();
+ // Track angle in degrees True
+ String bearing = splitter.next();
+ // UTC date of fix DDMMYY
+ String date = splitter.next();
+ // Magnetic Variation ddd.D
+ String magn = splitter.next();
+ // Magnetic variation direction (E/W)
+ String magnDir = splitter.next();
+ // for NMEA 0183 version 3.00 active the Mode indicator field is added
+ // Mode indicator, (A=autonomous, D=differential, E=Estimated, N=not valid, S=Simulator )
+ if (status != null && !status.equals("") && status.equals("A") ){
+ if (! time.equals(fixTime)){
+ notifyFix(fix);
+ fix = new Location(mockLocationProvider);
+ fixTime = time;
+ fixTimestamp = parseNmeaTime(time);
+ fix.setTime(fixTimestamp);
+ Log.e(this.getClass().getSimpleName(), "Fix: "+fix);
+ }
+ if (lat != null && !lat.equals("")){
+ fix.setLatitude(parseNmeaLatitude(lat,latDir));
+ }
+ if (lon != null && !lon.equals("")){
+ fix.setLongitude(parseNmeaLongitude(lon,lonDir));
+ }
+ if (speed != null && !speed.equals("")){
+ fix.setSpeed(parseNmeaSpeed(speed, "N"));
+ }
+ if (bearing != null && !bearing.equals("")){
+ fix.setBearing(Float.parseFloat(bearing));
+ }
+ Log.e(this.getClass().getSimpleName(), "Fix: "+System.currentTimeMillis()+" "+fix);
+ hasRMC = true;
+ if (hasGGA && hasRMC){
+ notifyFix(fix);
+ }
+ }
+ } else if (command.equals("GPGSA")){
+ /* $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
+
+ Where:
+ GSA Satellite status
+ A Auto selection of 2D or 3D fix (M = manual)
+ 3 3D fix - values include: 1 = no fix
+ 2 = 2D fix
+ 3 = 3D fix
+ 04,05... PRNs of satellites used for fix (space for 12)
+ 2.5 PDOP (Position dilution of precision)
+ 1.3 Horizontal dilution of precision (HDOP)
+ 2.1 Vertical dilution of precision (VDOP)
+ *39 the checksum data, always begins with *
+ */
+ // mode : A Auto selection of 2D or 3D fix / M = manual
+ String mode = splitter.next();
+ // fix type : 1 - no fix / 2 - 2D / 3 - 3D
+ String fixType = splitter.next();
+ // discard PRNs of satellites used for fix (space for 12)
+ for (int i=0 ; ((i<12)&&(! "1".equals(fixType))) ; i++){
+ splitter.next();
+ }
+ // Position dilution of precision (float)
+ String pdop = splitter.next();
+ // Horizontal dilution of precision (float)
+ String hdop = splitter.next();
+ // Vertical dilution of precision (float)
+ String vdop = splitter.next();
+ } else if (command.equals("GPVTG")){
+ /* $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48
+
+ where:
+ VTG Track made good and ground speed
+ 054.7,T True track made good (degrees)
+ 034.4,M Magnetic track made good
+ 005.5,N Ground speed, knots
+ 010.2,K Ground speed, Kilometers per hour
+ *48 Checksum
+ */
+ // Track angle in degrees True
+ String bearing = splitter.next();
+ // T
+ splitter.next();
+ // Magnetic track made good
+ String magn = splitter.next();
+ // M
+ splitter.next();
+ // Speed over the ground in knots
+ String speedKnots = splitter.next();
+ // N
+ splitter.next();
+ // Speed over the ground in Kilometers per hour
+ String speedKm = splitter.next();
+ // K
+ splitter.next();
+ // for NMEA 0183 version 3.00 active the Mode indicator field is added
+ // Mode indicator, (A=autonomous, D=differential, E=Estimated, N=not valid, S=Simulator )
+ } else if (command.equals("GPGLL")){
+ /* $GPGLL,4916.45,N,12311.12,W,225444,A,*1D
+
+ Where:
+ GLL Geographic position, Latitude and Longitude
+ 4916.46,N Latitude 49 deg. 16.45 min. North
+ 12311.12,W Longitude 123 deg. 11.12 min. West
+ 225444 Fix taken at 22:54:44 UTC
+ A Data Active or V (void)
+ *iD checksum data
+ */
+ // latitude ddmm.M
+ String lat = splitter.next();
+ // direction (N/S)
+ String latDir = splitter.next();
+ // longitude dddmm.M
+ String lon = splitter.next();
+ // direction (E/W)
+ String lonDir = splitter.next();
+ // UTC time of fix HHmmss.S
+ String time = splitter.next();
+ // fix status (A/V)
+ String status = splitter.next();
+ // for NMEA 0183 version 3.00 active the Mode indicator field is added
+ // Mode indicator, (A=autonomous, D=differential, E=Estimated, N=not valid, S=Simulator )
+ }
+ }
+ }
+
+ public double parseNmeaLatitude(String lat,String orientation){
+ double latitude = 0.0;
+ if (lat != null && orientation != null && !lat.equals("") && !orientation.equals("")){
+ double temp1 = Double.parseDouble(lat);
+ double temp2 = Math.floor(temp1/100);
+ double temp3 = (temp1/100 - temp2)/0.6;
+ if (orientation.equals("S")){
+ latitude = -(temp2+temp3);
+ } else if (orientation.equals("N")){
+ latitude = (temp2+temp3);
+ }
+ }
+ return latitude;
+ }
+ public double parseNmeaLongitude(String lon,String orientation){
+ double longitude = 0.0;
+ if (lon != null && orientation != null && !lon.equals("") && !orientation.equals("")){
+ double temp1 = Double.parseDouble(lon);
+ double temp2 = Math.floor(temp1/100);
+ double temp3 = (temp1/100 - temp2)/0.6;
+ if (orientation.equals("W")){
+ longitude = -(temp2+temp3);
+ } else if (orientation.equals("E")){
+ longitude = (temp2+temp3);
+ }
+ }
+ return longitude;
+ }
+ public float parseNmeaSpeed(String speed,String metric){
+ float meterSpeed = 0.0f;
+ if (speed != null && metric != null && !speed.equals("") && !metric.equals("")){
+ float temp1 = Float.parseFloat(speed)/3.6f;
+ if (metric.equals("K")){
+ meterSpeed = temp1;
+ } else if (metric.equals("N")){
+ meterSpeed = temp1*1.852f;
+ }
+ }
+ return meterSpeed;
+ }
+ public long parseNmeaTime(String time){
+ long timestamp = 0;
+ SimpleDateFormat fmt = new SimpleDateFormat("HHmmss.S");
+ fmt.setTimeZone(TimeZone.getTimeZone("GMT"));
+ try {
+ if (time != null && time != null){
+ long now = System.currentTimeMillis();
+ long today = now - (now %86400000L);
+ long temp1;
+ temp1 = fmt.parse(time).getTime();
+ long temp2 = today+temp1;
+ //
+ if (temp2 - now > 43200000L) {
+ timestamp = temp2 - 86400000L;
+ } else if (now - temp2 > 43200000L){
+ timestamp = temp2 + 86400000L;
+ } else {
+ timestamp = temp2;
+ }
+ }
+ } catch (ParseException e) {
+ // TODO Auto-generated catch block
+ Log.e(this.getClass().getSimpleName(), "Error while parsing NMEA time", e);
+ }
+ return timestamp;
+ }
+ public byte computeChecksum(String s){
+ byte checksum = 0;
+ for (char c : s.toCharArray()){
+ checksum ^= (byte)c;
+ }
+ return checksum;
+ }
+}
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